Kinematic analysis of a novel 5-DOF Delta-type parallel robot

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Abstract

Nowadays, various Delta-type robots are widely used in many technological fields. In this work, we propose a novel 5-DOF Delta-type parallel robot with four linear and one rotational actuators. The major part of the article is devoted to the kinematic analysis of the robot, including solving its inverse and forward kinematic problems. To demonstrate the developed techniques, we consider two numerical examples. In the first one, we solve the inverse kinematics and determine the actuator displacements required to realize a spatial trajectory of the output link. The forward kinematic analysis, presented in the second example, results in six different assembly modes of the robot for the given set of the actuator displacements. The proposed algorithms represent the basis for subsequent velocity, acceleration, and dynamic analysis of the robot, and they can be adapted to other Delta-type parallel robots.

About the authors

A. V. Antonov

Mechanical Engineering Research Institute of the Russian Academy of Sciences

Author for correspondence.
Email: antonov.av@imash.ru
Russian Federation, Moscow

P. A. Laryushkin

Bauman Moscow State Technical University

Email: pav.and.lar@gmail.com
Russian Federation, Moscow

A. S. Fomin

Mechanical Engineering Research Institute of the Russian Academy of Sciences

Email: alexey-nvkz@mail.ru
Russian Federation, Moscow

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Supplementary files

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2. Fig. 1. Development of parallel structure robots of the Delta type: (a) the original structure with three degrees of freedom [15]; (b) the modified structure with four degrees of freedom [16]; (c) the new structure with five degrees of freedom

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3. Fig. 2. The studied five-motion robot of the parallel structure of the “Delta” type: (a) designations of links; (b) coordinate systems and kinematic designations

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4. Fig. 3. Trajectory of the robot output link motion when solving the inverse kinematics problem (coordinates x, y and z in meters)

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5. Fig. 4. Solution of the inverse kinematics problem (parameters ℎ1, …, ℎ4 in meters, α1 in radians)

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6. Fig. 5. Six robot configurations corresponding to six different solutions of the direct kinematics problem (Table 1); the central chain is hidden for clarity.

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